CN208916318U - A kind of buck raker control device - Google Patents
A kind of buck raker control device Download PDFInfo
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- CN208916318U CN208916318U CN201821642231.2U CN201821642231U CN208916318U CN 208916318 U CN208916318 U CN 208916318U CN 201821642231 U CN201821642231 U CN 201821642231U CN 208916318 U CN208916318 U CN 208916318U
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Abstract
The utility model discloses a kind of buck raker control devices, comprising: detection detent mechanism for detecting spatial position or the state of material, and detects the position of the buck raker, and the information that will test is transferred to the controller；Traveling control mechanism, for controlling the buck raker movement and direction；Buck rake control mechanism, the buck rake for controlling buck raker are shoveled and are acted；Throttle control mechanism, for driving the amplitude of throttle, to control the power and speed of the buck raker；Brake control mechanism, the brake control mechanism is used to control the landing of brake, to realize the braking of the buck raker；Controller is connected respectively at the detection detent mechanism, traveling control mechanism, buck rake control mechanism, throttle control mechanism with brake control mechanism as master controller.Above-mentioned buck raker control device can be quickly installed on buck raker by the utility model, without to being modified inside original buck raker.
Description
Technical field
The utility model relates to buck raker control technology fields, more particularly, to a kind of buck raker control device.
Background technique
Buck raker is the engineering equipment of bulk cargo terminals cargo ship operation.In the power plant of large-scale thermal power, it is daily by ship by coal
Harbour is transported to, is then grabbed out the coal in cabin with ship unloaders.But ship unloaders, cannot be by cabin by its shape and many restrictions
All coals grab out.Remaining dump is often attached to 2 walls of cabin.It then needs to hang in cabin using buck raker, will remain
Remaining coal buck rake piles a pile to cabin center.Then, the grab bucket that can use ship unloaders, remaining cinder is caught.
Buck rake machine operation uses manual operation substantially at present, and operator is by cabin above and below ladder on ship, into driving
Room carries out rake coal operation, and the coal wall that surrounding in cabin is up to 8 meters or so is harrowed to bilge middle position, again for machine for unloading coal grab bucket
Crawl, could be emptied a coal bunker by nearly operation in 3 hours, and there are three coal bunkers for the collier of usual 4 10,000 tons, in order to protect
Card collier is unloaded coal in time, operator must work in shifts around the clock, labor intensity is very big；And space is narrow in cabin
Small, a large amount of exhaust gas is discharged in buck raker high output diesel engine and noise is not easy to spread, and air flow property is poor, dust concentration
Height, operator even also needs band to muzzle in the cockpit of closing to work, and especially summer operation is even more high temperature hardly possible
It is resistance to, the physical and mental health for the meeting grievous injury operator that works under this adverse circumstances for a long time；Due to low visibility in cabin, influence
Operator's sight, reduces operating efficiency；And cabin depth is up to 10 meters, operator generally passes through the upper and lower ship of ladder on ship
Cabin is dangerous, especially overcast and rainy ice and snow day, the wet easy cunning of ladder, and sight is poor, and there are serious security risks.
To sum up, the buck raker of the prior art also cannot achieve unmanned control, and operating efficiency is low, and it is hidden that there are operation safeties
Suffer from.
Utility model content
In view of this, the present invention provides a kind of buck raker control device of automatic control, with improve operating efficiency and
It eliminates safe hidden trouble.
The technical solution of the utility model is to provide a kind of buck raker control device with flowering structure, comprising:
Detection detent mechanism for detecting spatial position or the state of material, and detects the position of the buck raker, will examine
The information measured is transferred to the controller；
Traveling control mechanism, for controlling the buck raker movement and direction；
Buck rake control mechanism, the buck rake for controlling buck raker are shoveled and are acted；
Throttle control mechanism, for driving the amplitude of throttle, to control the power and speed of the buck raker；
Controller, as master controller respectively at the detection detent mechanism, traveling control mechanism, buck rake control mechanism and
Throttle control mechanism connection.
Optionally, the detection detent mechanism includes detection positioning scan module, height regulating rod and mounting base, the peace
In in the rack of the buck raker, the height regulating rod is set in the mounting base cartridge seat, the detection positioning scanning
Module is installed on the upper end of the height regulating rod, and the height regulating rod is used to adjust the height of the detection positioning scan module
Degree.
Optionally, the positioning scan module includes laser scanner, and the laser scanner issues multiple tracks laser beam, institute
After stating the return of multiple tracks laser beam, to obtain the distance of laser scanner described in laser beam flying positional distance, to obtain space
The position of the position of material and state and buck raker on position, and transfer data to the controller.
Optionally, the data that the controller is returned according to the positioning scan module, to control the traveling control
The movement and the direction of motion of mechanism.
Optionally, the traveling control mechanism is installed at the traveling control stick of buck raker, for controlling traveling control stick
Movement all around, to control advance, left-hand rotation, right-hand rotation and the retrogressing of buck raker.
Optionally, the traveling control mechanism includes traveling mounting rack, tandem servo motor, front and back control fork, a left side
Right control fork and left and right linear servo-actuator；The traveling mounting rack is mounted on the handrail position where above-mentioned traveling control stick,
The center of the upper plane of the traveling mounting rack is provided with big hole, passes freely through for the traveling control stick；The traveling behaviour
Vertical pole is placed in simultaneously in the fork pockets of the front and back control fork and left and right control fork, drives the left side by left and right linear servo-actuator
Right control fork is moved to control the side-to-side movement of traveling control stick, is passed through tandem servo motor and is driven the front and back control fork
Movement is to control moving forward and backward for traveling control stick.
Optionally, the buck raker control device further includes advance locking control mechanism and buck rake locking control mechanism, institute
The landing that locking control mechanism of advancing is used to control traveling locking level is stated, to control whether the traveling control stick fails；It is described
Buck rake locking control mechanism is used to control the landing of buck rake locking level, to control whether the buck rake control stick fails.
Optionally, the buck raker is provided with large throttle and small throttle, and the throttle control mechanism includes big for controlling
The large throttle control structure of throttle and small Throttle Opening Control structure for controlling small throttle, the large throttle is hand throttle, described
Small throttle is foot throttle.
Optionally, the buck raker control device further includes brake control mechanism, and the brake control mechanism is for controlling
The landing of brake, to realize the braking of the buck raker, the brake control mechanism is controlled by the controller.
Optionally, the controller includes control cabinet, driver group, industrial personal computer and combined inertial nevigation apparatus, the control cabinet
It is installed in driver's cabin, the driver group is installed in the control cabinet, respectively drives servo motor；The industrial personal computer installation
In in the control cabinet, the combined inertial nevigation apparatus is installed in the control cabinet, is used to export inertial guidance data, is uploaded to institute
State industrial personal computer.
Compared with prior art, the technical solution of the utility model has the advantage that according to the utility model, can incite somebody to action
Above-mentioned buck raker control device, is quickly installed on buck raker, without to being modified inside original buck raker.To convenient
It comes into operation and promotes rapidly, realize that buck raker belowdecks nobody clears the ship automatically, eliminate belowdecks harsh ring
Staff under border reduces labor intensity to substantially improve the working environment of operator, improves working efficiency and safety
Property.
Detailed description of the invention
Fig. 1 is the external structure for indicating the buck raker of an embodiment of the utility model；
Fig. 2 a is the first view of buck raker driver's cabin layout；
Fig. 2 b is the second view of buck raker driver's cabin layout；
Fig. 3 is the structural schematic diagram for indicating the traveling control mechanism of an embodiment of the utility model；
Fig. 4 is the structural schematic diagram for indicating the large throttle control mechanism of an embodiment of the utility model；
Fig. 5 is the structural schematic diagram of the traveling locking control mechanism for the embodiment for indicating the utility model；
Fig. 6 is the structural schematic diagram for indicating the brake control mechanism of an embodiment of the utility model；
Fig. 7 is the structural schematic diagram for indicating the controller of an embodiment of the utility model；
Fig. 8 is the intelligent measurement schematic illustration for indicating an embodiment of the utility model；
Fig. 9 is the work planning figure for indicating an embodiment of the utility model.
It is as shown in the figure:
1- buck raker, the multi-thread laser of 2-, 3- dump
10- detection detent mechanism, 101- intelligent measurement position scan module, and bar, 103- mounting base is turned up in 102-
20- controller, 30-, which advances, locks control mechanism, 13- traveling locking level, 40- brake control mechanism, 14- service brake,
The small throttle control mechanism of 50-, 15- foot throttle, 60- buck rake lock control mechanism, 16- buck rake locking level, and 70- buck rake controls machine
Structure, 17- buck rake control stick, 80- large throttle control mechanism, 18- hand throttle, 90- traveling control mechanism, 19- traveling control stick
201- control cabinet, 202- driver group, 203- industrial personal computer, 204- combined inertial nevigation apparatus
301- locking bit detection switch, 302- servo motor, 303- speed reducer, 304- locking device mounting rack, 305- row
Into locking level swinging fork, 306- release position detection switch, 307- anti-avulsion gasket
401- pinch roller, 402- wheel shaft, the big servo motor of 403-, 404- big retarding machine, 405- brake control mounting rack, 406-
Compression bar, 407- brake origin sensor, 408- brake sensing frame
801- linear servo-actuator, 802- throttle push fork, 803- large throttle mounting rack, 804- throttle origin detection sensing
Device, 805- throttle origin mounting rack
901- traveling mounting rack, bracket in place before and after 902-, 903- or so bracket in place, 904- to level detection sensor,
905- tandem servo motor, the front and back 906- control fork, 907- or so linear servo-actuator bracket, 908- or so control fork,
909- or so linear servo-actuator
Specific embodiment
It is described in detail below in conjunction with preferred embodiment of the attached drawing to the utility model, but the utility model is not merely
It is limited to these embodiments.The utility model covers any substitution made in the spirit and scope of the utility model, modification, equivalent
Method and scheme.
In order to make the public have thorough understanding to the utility model, in following the preferred embodiment in the utility model specifically
Concrete details is illustrated, and that this can also be understood completely is practical new for description without these details for a person skilled in the art
Type.
The utility model is more specifically described by way of example referring to attached drawing in the following passage.It should be noted that attached drawing
It is all made of more simplified form and uses non-accurate ratio, only to facilitate, lucidly aid in illustrating the utility model
The purpose of embodiment.
[the external structure example of buck raker]
Fig. 1 is an example for indicating the external structure of the buck raker of an embodiment of the utility model.
As shown in Figure 1, detection detent mechanism 10 has: intelligent measurement positions scan module 101, and bar 102, installation is turned up
Seat 103.
Above-mentioned detection detent mechanism 10 is installed on the top outside the driver's cabin of buck raker 1, for detecting dump surplus, and
Position position of the buck raker with respect to cabin.
Above-mentioned detection positioning scan module 101 is the key device in detection detent mechanism 10.It can with homogeneous angular,
In same perpendicular, while launching 16 or not terminating in 16 line lasers.Each line laser is irradiated to certain on object
After a bit, distance of the point apart from above-mentioned intelligent measurement positioning scan module 101 is returned immediately to processor.16 line lasers exist
Space forms laser scanning covering of the fan, and with high frequency, enables laser scanning covering of the fan rotate, to obtain around 360 ° of solid
Point cloud data (the laser point data by largely calculating distance form).
Above-mentioned height-regulating bar 102 is installed on the lower section of above-mentioned detection positioning scan module 101, is used to support and fixes above-mentioned inspection
Measure bit scan module 101.Above-mentioned height-regulating bar 102 includes screw thread regulating mechanism, can reach adjusting height by rotary screwing thread
Purpose.It is optimal using height to conveniently make above-mentioned intelligent measurement positioning scan module 101 obtain.
Above-mentioned mounting base 103 is installed on the lower section of above-mentioned height-regulating bar 102, for connecting with above-mentioned buck raker 1.It is internal embedding
Containing damping block, the influence of vibration that above-mentioned buck raker 1 generates at work to whole device is reduced.Meanwhile it being easily installed.
[structural example of buck raker driver's cabin]
Fig. 2 a, Fig. 2 b are an examples for indicating the buck raker cab structure of an embodiment of the utility model.
As shown in Fig. 2 a, Fig. 2 b, have in buck raker driver's cabin: controller 20, locking control mechanism 30 of advancing are advanced
Locking level 13, brake control mechanism 40, service brake 14, small throttle control mechanism 50, foot throttle 15, buck rake lock control mechanism 60,
Buck rake locking level 16, buck rake control mechanism 70, buck rake control stick 17, large throttle control mechanism 80, hand throttle 18, traveling control machine
Structure 90, traveling control stick 19
Wherein, above-mentioned traveling locking level 13, service brake 14, foot throttle 15, buck rake lock control mechanism 60, buck rake locking level
16, buck rake control stick 17, hand throttle 18, traveling control stick 19, be in above-mentioned 1 driver's cabin of buck raker carry device, control respectively
The different motion function of buck raker 1 processed.
Above-mentioned traveling locking control mechanism 30 is installed on above-mentioned traveling locking level 13, for controlling above-mentioned traveling locking level
13 lift and decline, to control whether above-mentioned traveling control stick 19 fails.
Above-mentioned buck rake locking control mechanism 60 is installed on above-mentioned buck rake locking level 16, for controlling above-mentioned buck rake locking level
16 lift and decline, to control whether above-mentioned buck rake control stick 17 fails.Above-mentioned buck rake locking control mechanism 60 with it is above-mentioned
It advances and locks the structure and layout having the same of control mechanism 30, each other left and right mirroring apparatus.
Above-mentioned brake control mechanism 40 is installed on above-mentioned service brake 14, for controlling lifting and declining for above-mentioned service brake 14,
It can timely brake to control the above-mentioned traveling of buck raker 1 movement.
Above-mentioned small throttle control mechanism 50 is installed on above-mentioned foot throttle 15, for controlling lifting for above-mentioned foot throttle 15
And decline, to assist controlling the throttle output size of above-mentioned buck raker 1.Above-mentioned small throttle control mechanism 50 and above-mentioned brake control
Mechanism 40 processed structure and layout having the same, each other left and right mirroring apparatus.
Above-mentioned traveling control mechanism 90 is installed on above-mentioned traveling control stick 19, for controlling above-mentioned traveling control stick 19
It all around controls, to control the advance of above-mentioned buck raker 1, turns left, turn right and retreat.
Above-mentioned buck rake control mechanism 70 is installed on above-mentioned buck rake control stick 17, for controlling above-mentioned buck rake control stick 17
It all around controls, to accurately control lifting, decline, forward swing, putting afterwards for the buck rake shovel of above-mentioned buck raker 1.Above-mentioned buck rake control
Mechanism processed 70 and above-mentioned traveling control mechanism 90 structure and layout having the same, each other left and right mirroring apparatus.
Above-mentioned large throttle control mechanism 80 is installed on above-mentioned hand throttle 18, for controlling the front and back of above-mentioned hand throttle 18
Control, to mainly control the throttle size of above-mentioned buck raker 1, adjustment speed.
Above controller 20, adaptation to local conditions, benefit is installed on the vacancy of driver seat or other interior spare bits of driver's cabin
It sets.It is responsible for driving and controls above-mentioned traveling locking control mechanism 30, brake control mechanism 40, small throttle control mechanism 50, buck rake
Lock control mechanism 60, buck rake control mechanism 70, large throttle control mechanism 80, the motion control of traveling control mechanism 90.Pass through
The intelligent algorithm for including processor, controls the motion control of above-mentioned apparatus, so that automatically controlling above-mentioned buck raker 1 carries out the work that clears the ship
Industry.
[structural example of traveling control mechanism]
Fig. 3 is an example of the traveling control mechanism structure for the embodiment for indicating the utility model.
As shown in figure 3, above-mentioned traveling control mechanism 90 is used to control the swing of above-mentioned traveling control stick 19, so that control pushes away
The traveling of rake machine acts.It has: traveling mounting rack 901, front and back bracket 902 in place, and left and right bracket 903 in place are detected in place
Sensor 904, tandem servo motor 905, front and back control fork 906, left and right linear servo-actuator bracket 907, left and right control
Fork 908, left and right linear servo-actuator 909
Above-mentioned traveling mounting rack 901 is used to be mounted on the handrail position where above-mentioned traveling control stick 19.Traveling mounting rack
The center of 901 upper plane is provided with big hole, and traveling control stick 19 can be enabled to pass freely through, while traveling control stick 19 enough
Carry out motion action all around.Above-mentioned tandem servo motor 905 is installed on the upper flat of above-mentioned traveling mounting rack 901
The right hand edge in face；Above-mentioned left and right linear servo-actuator bracket 907 is installed on the top of the upper plane of above-mentioned traveling mounting rack 901
Edge；Above-mentioned front and back in place bracket 902 and above-mentioned left and right in place bracket 903 be installed on traveling mounting rack 901 upper plane center
Around heart big hole.
Above-mentioned tandem servo motor 905 is the key part in the present apparatus, is a kind of servo-drive element.Inside it
It forms by the stator magnetic block of expansion linear tiles and by the mover sliding block that guide rail is made to be oriented to, is issued after powering on by servo-driver
Pulse signal, the mover sliding block for accurately controlling tandem servo motor 905 are moved forward and backward along rectilinear direction.Front and back is straight
Line servo motor 905 itself is closed-loop control, can form closed loop feedback to the current location of mover sliding block.Its side installation simultaneously
There are 2 limit location switches, can be used to correct origin and accumulated error.As shown in figure 3, its mover sliding block moves when institute
Parallel with the upper plane of above-mentioned traveling mounting rack 901 in plane, the positioning accuracy of mover sliding block is up to ± 0.002mm.Front and back
Control fork 906 is installed on the mover sliding block of tandem servo motor 905.
Above-mentioned front and back control fork 906 is provided with long slot hole, for clamping traveling control stick 19.When on front and back control fork 906
When stating the mover sliding block drive back-and-forth motion of tandem servo motor 905, long slot hole can push 19 front and back of traveling control stick
It swings, without limiting swinging for traveling control stick 19.
Above-mentioned left and right linear servo-actuator bracket 907 is a kind of L-type support, is used to support and watches with the high above-mentioned left and right straight line of frame
Take motor 909.Plane where it makes the mover sliding block of left and right linear servo-actuator 909 mobile, is installed perpendicular to above-mentioned traveling
The upper plane of frame 901.Also above-mentioned left and right linear servo-actuator 909 is made to be suspended on the upper of above-mentioned tandem servo motor 905
Side.To enable the volume of whole device more compact.
Above-mentioned left and right control fork 908 is a kind of part with L-type appearance, and bending place has reinforcing rib, is installed on
It states on the mover sliding block of left and right linear servo-actuator 909.Left and right control fork 908 is also provided with long slot hole, for clamping manipulation of advancing
Bar 19.When left and right control fork 908 is moved left and right by the mover sliding block drive of above-mentioned left and right linear servo-actuator 909, long slot hole
Traveling control stick 19 can be pushed to swing, the swing without limiting traveling control stick 19.
Therefore, as described above, above-mentioned tandem servo motor 905, left and right linear servo-actuator 909, front and back control fork
906, left and right control fork 908 constitutes the plane coordinate system (front and back and left and right) in a set of 2 direction.Front and back control fork 906 and left and right
The long slot hole of control fork 908 is laminated in cross bore, and traveling control stick 19 can be enabled arbitrarily to swing in plane coordinate system.
Bracket 902 and above-mentioned left and right are respectively provided with 3 long slot holes, are respectively equipped with 3 in place on bracket 903 in place for above-mentioned front and back
It is a above-mentioned to level detection sensor 904.For detecting and exporting the signal in place when traveling control stick 19 is located at different location, wrap
Include: interposition (origin), just before, it is just rear, left front, right before, it is left back, right after etc. positions.It is above-mentioned can be with to level detection sensor 904
According to reality, installation site is finely tuned in long slot hole.It, can be by place when abnormal failure occurs in the traveling control mechanism 90
The output signal of detection sensor 904 checks the source of trouble.
[structural example of large throttle control mechanism]
Fig. 4 is an example of the large throttle control mechanism structure for the embodiment for indicating the utility model.
As shown in figure 4, above-mentioned large throttle control mechanism 80 is used to control the swing of above-mentioned hand throttle 18, to adjust buck rake
The movement speed of machine.It has: linear servo-actuator 801, and throttle pushes fork 802, large throttle mounting rack 803, the inspection of throttle origin
Survey sensor 804, throttle origin mounting rack 805
Above-mentioned large throttle mounting rack 803 can conveniently and efficiently be installed on the side of above-mentioned hand throttle 18.Above-mentioned straight line is watched
The edge-on top for being installed on above-mentioned large throttle mounting rack 803 of motor 801 is taken, so that mover sliding block plane is perpendicular to above-mentioned hand throttle
18 mounting plane, so that whole device has smaller volume.
Above-mentioned throttle pushes fork 802 to be installed on the mover sliding block of above-mentioned linear servo-actuator 801, and shape is similar to " L " type,
Its bending place has reinforcing rib.Above-mentioned throttle pushes the front end of fork 802 to be provided with circular hole, at the polished rod for entangling above-mentioned hand throttle 18.
Host computer accurately controls the mover slider displacement of above-mentioned linear servo-actuator 801, so that above-mentioned throttle be enabled to push away by sending pulse
Moving fork 802 drives above-mentioned 18 swing of hand throttle, Precise Control of Oil door uninterrupted.
Above-mentioned throttle origin mounting rack 805 is installed on above-mentioned large throttle mounting rack 803, and it is complete to be right against above-mentioned hand throttle 18
The position of contract fully.Above-mentioned throttle initial point detection sensor 804 is installed on above-mentioned throttle origin mounting rack 805, for detecting
Whether above-mentioned hand throttle 18 reaches the position that throttle completely closes, as control origin.
[structural example for locking control mechanism of advancing]
Fig. 5 is an example of the traveling locking control mechanism structure for the embodiment for indicating the utility model.
As shown in figure 5, above-mentioned traveling locking control mechanism 30 is used to control the swing of above-mentioned traveling locking level 13, to lock
Determine or discharge above-mentioned traveling control stick 19, controls whether it can work or fail.It has: locking bit detection switch 301 is watched
Take motor 302, speed reducer 303, locking device mounting rack 304, traveling locking level swinging fork 305, release position detection switch 306,
Anti-avulsion gasket 307
Above-mentioned locking device mounting rack 304 is installed near above-mentioned traveling locking level 13.Above-mentioned speed reducer 303 is installed
In on above-mentioned locking device mounting rack 304.Above-mentioned servo motor 302 is installed on above-mentioned speed reducer 303, is coaxially connected.
Power drive of the above-mentioned servo motor 302 by pulse SERVO CONTROL, as above-mentioned traveling locking control mechanism 30
Element.Above-mentioned speed reducer 303 can amplify the output torque of above-mentioned servo motor 302 by internal reduction mechanism.
Above-mentioned locking bit detection switch 301 and above-mentioned release position detection switch 306 are respectively arranged in above-mentioned locking device peace
It shelves on 304, and is located at the top and right of the output shaft relative to above-mentioned speed reducer 303.
Above-mentioned traveling locking level swinging fork 305 has rotary table, is above provided with circular hole and keyway, can be installed on above-mentioned speed reducer
On 303 output shaft.It is provided with threaded hole above rotary table, is further reinforced by holding screw and the output of above-mentioned speed reducer 303
The connection of axis.There are tails on the right side of rotary table, when above-mentioned traveling locking level swinging fork 305 is in a horizontal position, tail and the right side
Fang Shangshu locking bit detection switch 306 contacts, and indicates that above-mentioned traveling locking level 13 is in and releases the control state, and output signal.
When above-mentioned traveling locking level swinging fork 305 drives above-mentioned traveling locking level 13 to be raised up to position downwards, tail and top
Above-mentioned release position detection switch 301 contacts, and indicates that above-mentioned traveling locking level 13 is in locking state of a control, and output signal.Circle
It is " L " type crotch on the left of platform, bending place has reinforcing rib, and end is provided with elongated slot.Above-mentioned traveling locking level 13 passes through elongated slot,
It is swung up and down by the drive of above-mentioned traveling locking level swinging fork 305.
Above-mentioned anti-avulsion gasket 307 is installed on the shaft end of the output shaft of above-mentioned speed reducer 303, by screw thread, sunk screw with
Axis connection is exported, the rotary table of above-mentioned traveling locking level swinging fork 305 is compressed, prevents it from skidding off.
[structural example of brake control mechanism]
Fig. 6 is an example for indicating the brake control mechanism structure of an embodiment of the utility model.
As shown in fig. 6, above-mentioned brake control mechanism 40 is used to control lifting or declining for above-mentioned service brake 14, thus in control
State the braking of buck raker 1.It has: pinch roller 401, wheel shaft 402, big servo motor 403, big retarding machine 404, brake control installation
Frame 405, compression bar 406, brake origin sensor 407, brake sensing frame 408
Above-mentioned brake control mounting rack 405 is installed on the front of above-mentioned service brake 14, positive mounting surface and service brake 14 nearby
Foot pedal swaying direction is parallel.Above-mentioned big retarding machine 404 is installed on above-mentioned brake control mounting rack 405.Above-mentioned big servo electricity
Machine 403 is coaxially installed on above-mentioned big retarding machine 404.
Above-mentioned 406 one end of compression bar has rotary table, and rotary table is provided with circular hole and keyway, the output shaft with above-mentioned big retarding machine 404
It is connected by flat key.It is provided with threaded hole above rotary table, flat key is compressed by holding screw, reinforces above-mentioned compression bar 406 and big retarding
The connection of the output shaft of machine 404.Above-mentioned 406 other end of compression bar is provided with slot position, separately has a hole to pass perpendicularly through slot position, above-mentioned wheel shaft
402 are installed on the hole site.
Above-mentioned pinch roller 401 is installed on above-mentioned wheel shaft 402.When above-mentioned big servo motor 403 exports, by above-mentioned big retarding
Machine 404 slows down, and above-mentioned compression bar 406 is driven to swing.So that the above-mentioned pinch roller 401 at above-mentioned 406 other end of compression bar be applied to it is above-mentioned
On the foot pedal of service brake 14, so that press foot pedal, realizes braking.With the decline of the foot pedal of above-mentioned service brake 14, pinch roller 401
It is in contact with it passive rolling, realizes the effect of frictional dissipation between reducing part.
Above-mentioned brake sensing frame 408 is installed on the positive mounting surface of above-mentioned brake control mounting rack 405.It is equipped with thereon
State brake origin sensor 407.When the foot pedal of above-mentioned service brake 14 is pressed to extreme lower position by above-mentioned compression bar 406, above-mentioned pressure
Bar 406 is just in the effective detection position of above-mentioned brake origin sensor 407, to export signal in place.
[structural example of controller]
Fig. 7 is an example for indicating the controller architecture of an embodiment of the utility model.
As shown in fig. 7, above controller 20 is for planning as a whole control above controller 20, locking control mechanism 30 of advancing, stopping
Vehicle control mechanism 40, small throttle control mechanism 50, buck rake locking control mechanism 60, buck rake control mechanism 70, large throttle control machine
The work of structure 80, traveling control mechanism 90.It has: control cabinet 201, driver group 202, industrial personal computer 203, combined inertial nevigation apparatus
204。
Above controller 20 chooses any spare space installation in driver's cabin, installs preferably at the seat of driver's cabin.
Above-mentioned control cabinet 201 is installed on the seat of driving, by bolt and nut, is fixed on seat both sides.
Above-mentioned driver group 202 is installed in above-mentioned control cabinet 201, respectively drive the above-mentioned linear servo-actuator referred to and
Servo motor.
Above-mentioned industrial personal computer 203 is installed in above-mentioned control cabinet 201, and as the brain of control system, overall planning controls it
The work and operation of his device.
Said combination inertial nevigation apparatus 204 is installed in above-mentioned control cabinet 201, and effect is output inertial guidance data, is uploaded to
Above-mentioned industrial personal computer 203.Its data mainly includes the instantaneous acceleration of the above-mentioned traveling of buck raker 1 movement.
[the work example of intelligent measurement principle]
Fig. 8 is an example for indicating the intelligent measurement principle of an embodiment of the utility model.Now in conjunction with attached drawing to intelligence
The intelligent measurement principle of buck rake machine control system is described.
As shown in figure 8, cabin is a kind of all round closure formula space.After ship unloaders grab, remaining dump is along cabin two
Lateral edge wall forms triangle dump 3.Usual dump 3 may be up to nearly 10 meters or 10 several meters.
Firstly, the buck raker 1 for being equipped with intelligent buck rake machine control system is placed on cabin middle.It puts down towards usual
Row or the wall plane depended on perpendicular to dump 3.After buck raker 1 comes to a complete stop, the above-mentioned detection detent mechanism of top installation
10 launch 16 line lasers, scan ambient enviroment.It is any instantaneous, when line laser is irradiated to barrier, realize ranging, and by the point
Range data be uploaded to above controller 20.16 line laser structured lights go out the point cloud data that 16 circle of surrounding is made of distance, hair
Give above controller 20.
Further, above controller 20 arranges and calculates point cloud data, so that inverse goes out buck raker 1 itself by algorithm
Relative to the position in cabin.
Further, Yi Tu shows as ring from top to bottom as it can be seen that 16 annulus areas that are returned of circle point cloud datas are of different sizes
Shape gradually becomes smaller.Reason is that dump 3 is low wide and up narrow.Therefore it is preferred that most upper circle point cloud data basis on location the most.
Further, as buck raker 1 is by among the coal buck rake to cabin of dump 3, so that the height of dump 3 is gradually reduced,
To release more walls.Above-mentioned detection detent mechanism 10 is shown as, 16 circle point cloud datas are under upper, annulus area
It is gradually increased to top layer's annulus area.It successively can determine whether the remaining coal amount of dump 3.
Further, when the laser return annulus area of scanning to cabin extreme lower position is equal to cabin area and each equal to upper layer
When annulus area, it is possible to determine that dump cleaning is completed in cabin.
[the work planning example of intelligent buck raker]
Fig. 9 is the work planning example for indicating an embodiment of the utility model.Now in conjunction with attached drawing to intelligent buck raker from
The process of the dynamic operation that clears the ship is described.
As shown in figure 9, above-mentioned buck raker 1 is placed on cabin middle.After it comes to a complete stop, above-mentioned detection detent mechanism 10
Laser scanning is opened, and scan data is uploaded to above controller 20.
Further, for above controller 20 according to scan data, it is in place relative to cabin institute that intellectual analysis goes out above-mentioned buck raker 1
It sets, and planning path.
Further, above controller 20 controls above-mentioned traveling locking control mechanism 30 and above-mentioned buck rake locking control mechanism 60
Movement, above-mentioned traveling locking level 13 and above-mentioned buck rake locking level 16 are lifted, above-mentioned traveling control stick 19 and above-mentioned buck rake are discharged
Control stick 17.
Further, above controller 20 controls above-mentioned brake control mechanism 40 and above-mentioned small throttle control mechanism 50 lifts,
Discharge the above-mentioned service brake 14 and above-mentioned foot throttle 15 compressed before.
Further, above controller 20 controls above-mentioned large throttle control mechanism 80 and pushes the above-mentioned movement of hand throttle 18, so that
Throttle is opened；And control above-mentioned buck rake control mechanism 70 and drive above-mentioned buck rake control stick 17, lift buck rake shovel；And it controls above-mentioned
Traveling control mechanism 90 drives above-mentioned traveling control stick 19 to swing, so that above-mentioned buck raker 1 is towards above-mentioned 3 place orientation of dump,
It rotates by a certain angle, then starts to advance.
Further, above-mentioned buck raker 1 rushes in above-mentioned dump 3, and swashes along above-mentioned 3 slope of dump.During it, above-mentioned inspection
The position that positioning mechanism 10 calculates oneself with respect to cabin always is surveyed, realizes positioning and avoidance in real time.
Further, in above-mentioned 1 motion process of buck raker, inside the said combination inertial nevigation apparatus 204 that is equipped with examine in real time
The instantaneous acceleration that above-mentioned buck raker 1 moves is surveyed and exported, above controller 20 is uploaded to.Above controller 20 is by instantaneous
2 times of acceleration integrals, calculate the real-time displacement of above-mentioned buck raker 1, and with scanned by above-mentioned detection detent mechanism 10
Location information compares.Improve the positioning accuracy and system reliability of above-mentioned buck raker 1.
Further, above controller 20 is by controlling above-mentioned traveling control mechanism 90 and the control of above-mentioned buck rake control mechanism 70
To cabin edge, raking dump returns back among cabin above-mentioned 1 row of buck raker.So complete primary rake coal process.
Further, after returning to cabin centre, by the scan data of above-mentioned detection detent mechanism 10, refresh self-position,
It relocates.It is compared simultaneously by the point cloud data of 16 line lasers, judges remaining dump height and coal amount, harrowed next time from planning
Coal movement.Above controller 20 controls above-mentioned buck rake by controlling above-mentioned traveling control mechanism 90 and above-mentioned buck rake control mechanism 70
Machine 1 deflects another angle, executes rake coal movement next time along straight-line travelling.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in the implementation
Made modifications, equivalent substitutions and improvements etc., should be included in the protection model of the technical solution within the spirit and principle of mode
Within enclosing.
Claims (9)
1. a kind of buck raker control device, it is characterised in that: include:
Detection detent mechanism for detecting spatial position or the state of material, and detects the position of the buck raker, will test
To information be transferred to controller；
Traveling control mechanism, for controlling the buck raker movement and direction；
Buck rake control mechanism, the buck rake for controlling buck raker are shoveled and are acted；
Throttle control mechanism, for driving the amplitude of throttle, to control the power and speed of the buck raker；
Brake control mechanism, the brake control mechanism is used to control the landing of brake, to realize the braking of the buck raker；
Controller, as master controller respectively at the detection detent mechanism, traveling control mechanism, buck rake control mechanism, throttle
Control mechanism is connected with brake control mechanism.
2. buck raker control device according to claim 1, it is characterised in that: the detection detent mechanism includes that detection is fixed
Bit scan module, height regulating rod and mounting base, the mounting base are located in the rack of the buck raker, the height regulating rod
It is set in the mounting base, the detection positioning scan module is installed on the upper end of the height regulating rod, the height tune
Pole is used to adjust the height of the detection positioning scan module.
3. buck raker control device according to claim 2, it is characterised in that: the positioning scan module includes that laser is swept
Retouch device, the laser scanner issues multiple tracks laser beam, after the multiple tracks laser beam returns, with obtain laser beam flying position away from
With a distance from the laser scanner, so that the position of the position of material and state and buck raker on spatial position is obtained, and
Transfer data to the controller.
4. buck raker control device according to claim 3, it is characterised in that: the controller is scanned according to the positioning
The data that module returns, to control the movement and the direction of motion of the traveling control mechanism.
5. buck raker control device according to claim 1, it is characterised in that: the traveling control mechanism is installed on buck rake
At the traveling control stick of machine, for controlling the movement all around of traveling control stick, to control the advance, left-hand rotation, the right side of buck raker
Turn and retreats.
6. buck raker control device according to claim 5, it is characterised in that: the traveling control mechanism includes peace of advancing
It shelves, tandem servo motor, front and back control fork, left and right control is pitched and left and right linear servo-actuator；The traveling mounting rack
It being mounted on the handrail position where above-mentioned traveling control stick, the center of the upper plane of the traveling mounting rack is provided with big hole,
It is passed freely through for the traveling control stick；The traveling control stick is placed in the fork of the front and back control fork and left and right control fork simultaneously
In slot, drives the left and right control fork movement to control the side-to-side movement of traveling control stick by left and right linear servo-actuator, lead to
Crossing tandem servo motor drives the front and back control fork movement to control moving forward and backward for traveling control stick.
7. buck raker control device according to claim 6, it is characterised in that: the buck raker control device further includes row
Control mechanism is locked into locking control mechanism and buck rake, the locking control mechanism of advancing is used to control rising for traveling locking level
Drop, to control whether the traveling control stick fails；The buck rake locking control mechanism is used to control the landing of buck rake locking level,
To control whether the buck rake control stick fails.
8. buck raker control device according to claim 1, it is characterised in that: the buck raker is provided with large throttle and small
Throttle, the throttle control mechanism include the large throttle control structure for controlling large throttle and the small oil for controlling small throttle
Door control structure, the large throttle are hand throttle, and the small throttle is foot throttle.
9. buck raker control device according to any one of claims 1 to 8, it is characterised in that: the controller includes control
Case, driver group, industrial personal computer and combined inertial nevigation apparatus processed, the control cabinet are installed in driver's cabin, the driver group installation
In in the control cabinet, servo motor is respectively driven；The industrial personal computer is installed in the control cabinet, the combined inertial nevigation apparatus
It is installed in the control cabinet, is used to export inertial guidance data, be uploaded to the industrial personal computer.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821642231.2U CN208916318U (en) | 2018-10-10 | 2018-10-10 | A kind of buck raker control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821642231.2U CN208916318U (en) | 2018-10-10 | 2018-10-10 | A kind of buck raker control device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109335719A (en) * | 2018-10-10 | 2019-02-15 | 杭州登元科技有限公司 | Buck raker control device |
| CN113452748A (en) * | 2021-05-14 | 2021-09-28 | 浙江工业大学 | Communication system for unmanned pushing and raking machine |
-
2018
- 2018-10-10 CN CN201821642231.2U patent/CN208916318U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109335719A (en) * | 2018-10-10 | 2019-02-15 | 杭州登元科技有限公司 | Buck raker control device |
| CN113452748A (en) * | 2021-05-14 | 2021-09-28 | 浙江工业大学 | Communication system for unmanned pushing and raking machine |
| CN113452748B (en) * | 2021-05-14 | 2022-07-15 | 浙江工业大学 | Communication system for unmanned pushing and raking machine |
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